Robot system and method for cathode selection and handling procedures after the harvest

Abstract

As a final stage of the current copper production process, the cathodes are inspected and sampled to determine its quality. Based on the inspection and the sampling the cathodes are selected and arranged according to the different qualities. Currently the inspection and selection of the cathodes in the loading site is carried out manually, which means that the operators must inspect and manipulate one by one the cathodes produced by the plant which requires a high physical effort and a great amount of labor force. Due to the above, a robot system and method have been developed for the selection and manipulation of cathodes in the site. The robotic system is composed mainly of a robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which allows to take the cathodes from a feeding system located at one of its sides and take it through a predefined path arranging them in groups according to their quality, the decision as to which quality group each cathode goes is taken by a superior order which could be automatic or manual. The system additionally has different racks in which the robotic system groups the cathodes according to the quality. In this regard, most of the problems associated to the current operation are eliminated

1 . A robot system for the selection and handling of cathodes after the harvest comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one pneumatic gripper, its fingers, one pneumatic gripper driving system, one electric supply system wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows in a sequential and programmed way to take, manipulate and release the cathodes from a feeding belt and move them through a predefined path to the different storing points.  
     
     
         2 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         3 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.  
     
     
         4 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control analogue and/or digital input devices.  
     
     
         5 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein a pneumatic gripping mechanism is used which allows to take, manipulate and release the cathodes.  
     
     
         6 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors, with vectorial and/or scalar control.  
     
     
         7 . A robot system for the selection and handling of cathodes after the harvest, according to  claim 1 , wherein it has the capacity to move and manipulate copper sheets or cathodes in different paths within the work volume of the robotic system.  
     
     
         8 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein it could be integrated to an automatic or manual inspection system which indicates the quality of the cathode for it to execute the selection.  
     
     
         9 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein it could be integrated to any process with a sheet as final product as it is the copper sheet.  
     
     
         10 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein productivity and efficiency of the selection and handling of cathodes after the harvest in electrometallurgical processes of different metals such as copper, nickel, zinc, etc. increases.  
     
     
         11 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein the system may operate automatically, or semi-automatically, and also allows solutions scalability.  
     
     
         12 . A robot system for the selection and handling of cathodes after the harvest according to  claim 1 , wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.  
     
     
         13 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows in a sequential and programmed way to take, manipulate and release the cathodes from a feeding belt and move them through a predefined path to the different storing points.  
     
     
         14 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein a pneumatic gripping mechanism is used which allows taking, manipulating and releasing the cathodes.  
     
     
         15 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         16 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.  
     
     
         17 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.  
     
     
         18 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control.  
     
     
         19 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein it has the capacity to move and manipulate copper sheets or cathodes in different paths within the work volume of the robotic system.  
     
     
         20 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein it could be integrated to an automatic or manual inspection system which indicates the quality of the cathode for it to execute the selection.  
     
     
         21 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein it could be integrated to any process with a sheet as final product as it is the copper sheet.  
     
     
         22 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein productivity and efficiency of the selection and handling of cathodes after the harvest in electrometallurgical processes of different metals such as copper, nickel, zinc, etc. increases.  
     
     
         23 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein the system may operate automatically or semi-automatically, and also allows solution scalability.  
     
     
         24 . A robotic method for the selection and handling of cathodes after the harvest using the robot System of  claim 1  to  12 , wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.